version: 66.12
glider: 141
mission: 23
dive: 331
start: 10 31 115 9 14 51
data:
$ID,141
$MISSION,23
$DIVE,331
$N_DIVES,0
$D_SURF,3
$D_FLARE,5
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,20
$T_BOOST,5
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,330
$T_MISSION,360
$T_ABORT,1500
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52033
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0.5
$TGT_DEFAULT_LAT,6000
$TGT_DEFAULT_LON,-5500
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,100440
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,50
$PITCH_MAX,3800
$C_PITCH,2715
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,25
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,361
$ROLL_MAX,4050
$ROLL_DEG,40
$C_ROLL_DIVE,2650
$C_ROLL_CLIMB,2475
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,48
$ROLL_AD_RATE,325
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,348
$VBD_MAX,3980
$C_VBD,3127
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,9.9999997e-05
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,0
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-33.834953
$PRESSURE_SLOPE,0.0001160265
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,133
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043543633
$SEABIRD_T_H,0.00062237249
$SEABIRD_T_I,2.1446129e-05
$SEABIRD_T_J,2.055453e-06
$SEABIRD_C_G,-10.134171
$SEABIRD_C_H,1.1439899
$SEABIRD_C_I,-0.0013638148
$SEABIRD_C_J,0.00018835191
$GPS1,311015,033746,755.6052,8154.9604,301,99.0,301,-2.3,0.5,18.9,5,14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.33
$_SM_ANGLEo,-72.3
$GPS2,311015,091415,754.5129,8157.8564,114,1.9,154,-2.3,0.8,292.9,5,16.8
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,W1
$TGT_LATLONG,800.000,8500.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,135.6,334202,-27.2,-10.000,-30.00,965
$D_GRID,3065
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,24,-1.10,-63.0,11,2668,839,958,0.0,0.0,0,114,0.00,0.00,-86.85,0.000,16386,0.000,0.000,10,2669,3283,3348,3218,0,0,0,0,0,0,14.94,28.83,14.97
$GC,123,-1.10,-115.2,10,2668,3348,3219,5.4,-4.4,9,145,11.57,2.28,-4.68,0.000,18692,0.415,0.091,2342,4030,3598,3660,3537,0,0,0,0,0,0,14.19,13.78,14.46
$GC,261,-1.10,-115.2,2342,4030,3659,3541,68.8,-39.0,37,266,0.00,2.17,0.00,0.000,1030,0.000,0.034,2342,2640,3600,3660,3541,0,0,0,0,0,0,14.79,14.71,14.81
$GC,585,-1.10,-115.2,2342,2640,3660,3545,148.1,-19.2,56,591,0.00,2.17,0.00,0.000,516,0.000,0.049,2342,1254,3602,3660,3545,0,0,0,0,0,0,15.07,14.69,15.11
$GC,733,-1.10,-115.2,2342,1254,3660,3546,172.2,-16.8,85,738,0.00,2.22,0.00,0.000,1030,0.000,0.050,2332,2643,3603,3660,3546,0,0,0,0,0,0,14.84,14.74,14.87
$GC,1052,-1.10,-115.2,2332,2643,3660,3547,228.0,-18.3,103,1058,0.00,2.30,0.00,0.000,260,0.000,0.074,2321,4042,3603,3660,3547,0,0,0,0,0,0,15.11,14.66,15.14
$GC,1126,-1.10,-115.2,2321,4042,3660,3547,242.5,-19.5,118,1131,0.12,2.20,0.00,0.000,3078,0.303,0.031,2351,2638,3603,3659,3547,0,0,0,0,0,0,14.32,14.73,14.76
$GC,1433,-1.10,-115.2,2350,2638,3656,3547,287.9,-14.6,126,1438,0.00,2.33,0.00,0.000,260,0.000,0.076,2343,4040,3601,3655,3547,0,0,0,0,0,0,15.12,14.66,15.16
$GC,1472,-1.10,-115.2,2342,4040,3655,3547,294.2,-16.2,134,1478,0.00,2.15,0.00,0.000,1030,0.000,0.032,2343,2644,3601,3655,3547,0,0,0,0,0,0,14.90,14.83,14.92
$GC,1793,-1.10,-115.2,2342,2644,3650,3547,344.2,-15.7,143,1798,0.00,2.30,0.00,0.000,260,0.000,0.075,2332,4035,3598,3649,3547,0,0,0,0,0,0,15.14,14.66,15.17
$GC,1837,-1.10,-115.2,2332,4035,3650,3547,351.5,-16.9,152,1843,0.00,2.15,0.00,0.000,1030,0.000,0.032,2332,2641,3598,3650,3547,0,0,0,0,0,0,14.90,14.83,14.92
$GC,2153,-1.10,-115.2,2332,2641,3643,3547,398.5,-14.7,160,2160,0.00,2.22,0.00,0.000,516,0.000,0.051,2333,1250,3594,3642,3547,0,0,0,0,0,0,15.14,14.76,15.17
$GC,2198,-1.10,-115.2,2332,1250,3642,3548,405.3,-14.5,169,2203,0.17,2.25,0.00,0.000,3078,0.299,0.052,2358,2650,3594,3642,3547,0,0,0,0,0,0,14.35,14.76,14.69
$GC,2521,-1.10,-115.2,2358,2650,3635,3547,450.6,-14.3,177,2522,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,2650,3591,3636,3547,0,0,0,0,0,0,15.12,15.16,15.15
$GC,2818,-1.10,-115.2,2358,2650,3632,3547,494.6,-14.7,182,2823,0.00,2.30,0.00,0.000,260,0.000,0.078,2349,4033,3589,3631,3547,0,0,0,0,0,0,15.15,14.64,15.18
$GC,2866,-1.10,-115.2,2350,4033,3630,3545,502.5,-16.1,192,2874,0.00,2.15,0.00,0.000,1030,0.000,0.034,2350,2654,3587,3630,3545,0,0,0,0,0,0,14.88,14.81,14.91
$GC,3178,-1.10,-115.2,2350,2654,3626,3545,546.8,-14.0,199,3183,0.00,2.22,0.00,0.000,516,0.000,0.053,2350,1258,3584,3625,3544,0,0,0,0,0,0,15.14,14.68,15.18
$GC,3206,-1.10,-115.2,2350,1258,3625,3545,550.8,-13.5,205,3211,0.00,2.28,0.00,0.000,1030,0.000,0.054,2340,2660,3585,3625,3545,0,0,0,0,0,0,14.84,14.73,14.88
$GC,3540,-1.10,-115.2,2340,2660,3622,3542,595.8,-13.5,216,3541,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2660,3582,3622,3543,0,0,0,0,0,0,15.14,15.19,15.18
$GC,3840,-1.10,-115.2,2339,2660,3619,3541,637.9,-14.2,221,3842,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2660,3580,3619,3541,0,0,0,0,0,0,15.14,15.18,15.17
$GC,4140,-1.10,-115.2,2340,2660,3616,3539,680.8,-14.3,226,4142,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2660,3577,3616,3539,0,0,0,0,0,0,15.15,15.19,15.18
$GC,4441,-1.10,-115.2,2340,2660,3613,3537,723.4,-14.2,230,4442,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2660,3575,3613,3537,0,0,0,0,0,0,15.14,15.18,15.17
$GC,5040,-1.10,-115.2,2339,2660,3609,3533,812.4,-15.0,235,5045,0.00,2.30,0.00,0.000,260,0.000,0.086,2329,4029,3571,3608,3534,0,0,0,0,0,0,15.15,14.53,15.18
$GC,5069,-1.10,-115.2,2329,4029,3608,3533,817.1,-16.5,241,5074,0.12,2.17,0.00,0.000,3078,0.301,0.039,2352,2656,3570,3608,3533,0,0,0,0,0,0,14.30,14.75,14.61
$GC,5767,-1.10,-115.2,2351,2655,3603,3531,911.6,-13.3,264,5768,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2655,3567,3603,3531,0,0,0,0,0,0,15.11,15.15,15.15
$GC,6363,-1.10,-115.2,2352,2655,3600,3529,989.2,-13.0,269,6365,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2655,3564,3600,3529,0,0,0,0,0,0,15.14,15.18,15.17
$STATE,6480,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6480,begin apogee
$GC,6490,-0.20,0.0,2353,2463,3598,3528,1004.3,-13.0,270,6586,1.10,0.00,91.85,2.228,10246,0.246,0.000,2644,2463,3126,3082,3170,0,0,0,0,0,0,14.16,14.21,13.21
$STATE,6588,end apogee,CONTROL_FINISHED_OK
$STATE,6588,begin climb
$GC,6592,1.10,115.2,2645,2463,3082,3168,1004.3,0.0,270,6694,1.33,0.00,98.40,2.188,10246,0.118,0.000,3066,2462,2656,2588,2724,0,0,0,0,0,0,14.23,14.01,13.08
$GC,7207,1.10,115.2,3065,2462,2594,2707,904.7,18.3,276,7213,0.00,2.42,0.00,0.000,260,0.000,0.089,3066,3873,2650,2595,2706,0,0,0,0,0,0,14.92,14.51,14.95
$GC,7286,1.10,115.2,3065,3874,2595,2705,888.1,20.3,292,7293,0.00,2.30,0.00,0.000,1030,0.000,0.055,3076,2485,2649,2595,2704,0,0,0,0,0,0,14.74,14.66,14.78
$GC,7927,1.10,115.2,3076,2484,2595,2698,767.7,18.8,305,7931,0.00,2.42,0.00,0.000,260,0.000,0.090,3077,3880,2647,2596,2698,0,0,0,0,0,0,15.06,14.59,15.09
$GC,7990,1.10,115.2,3076,3880,2597,2696,755.1,20.8,317,7994,0.00,2.30,0.00,0.000,1030,0.000,0.055,3087,2474,2646,2597,2696,0,0,0,0,0,0,14.80,14.71,14.83
$GC,8653,1.10,115.2,3086,2474,2597,2692,627.0,19.0,337,8654,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2474,2644,2597,2692,0,0,0,0,0,0,15.10,15.14,15.13
$GC,8954,1.10,115.2,3086,2473,2597,2692,570.1,19.0,342,8959,0.00,2.40,0.00,0.000,260,0.000,0.089,3086,3867,2644,2598,2691,0,0,0,0,0,0,15.11,14.51,15.14
$GC,9002,1.10,115.2,3086,3867,2599,2691,560.2,20.7,352,9010,0.00,2.28,0.00,0.000,1030,0.000,0.053,3097,2471,2644,2598,2691,0,0,0,0,0,0,14.81,14.71,14.84
$GC,9315,1.10,115.2,3097,2472,2599,2690,502.1,18.7,359,9317,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2472,2644,2599,2690,0,0,0,0,0,0,15.10,15.14,15.13
$GC,9613,1.10,115.2,3096,2471,2598,2689,448.3,18.1,364,9619,0.00,2.42,0.00,0.000,260,0.000,0.090,3097,3876,2644,2599,2689,0,0,0,0,0,0,15.12,14.49,15.15
$GC,9678,1.10,115.2,3096,3876,2599,2689,436.3,18.4,377,9683,0.17,2.30,0.00,0.000,5126,0.353,0.053,3075,2468,2644,2599,2689,0,0,0,0,0,0,14.14,14.70,14.59
$GC,10041,1.10,115.2,3075,2468,2599,2689,378.8,15.7,393,10046,0.00,2.38,0.00,0.000,516,0.000,0.074,3084,1065,2645,2601,2689,0,0,0,0,0,0,15.09,14.59,15.12
$GC,10114,1.10,115.2,3084,1065,2604,2685,366.8,15.1,407,10120,0.00,2.35,0.00,0.000,1030,0.000,0.064,3084,2468,2644,2604,2685,0,0,0,0,0,0,14.75,14.62,14.80
$GC,10466,1.10,115.2,3084,2468,2603,2685,313.1,15.1,422,10471,0.00,2.40,0.00,0.000,260,0.000,0.090,3084,3874,2645,2605,2685,0,0,0,0,0,0,15.11,14.47,15.14
$GC,10555,1.10,115.2,3083,3874,2604,2685,297.3,17.4,440,10561,0.00,2.28,0.00,0.000,1030,0.000,0.050,3093,2472,2644,2604,2685,0,0,0,0,0,0,14.78,14.69,14.82
$GC,10886,1.10,115.2,3093,2471,2605,2685,244.0,16.3,451,10891,0.00,2.42,0.00,0.000,260,0.000,0.089,3093,3877,2645,2605,2685,0,0,0,0,0,0,15.11,14.45,15.14
$GC,11122,1.10,115.2,3093,3877,2605,2685,204.5,17.6,498,11127,0.10,2.33,0.00,0.000,5126,0.298,0.050,3073,2480,2645,2605,2685,0,0,0,0,0,0,14.09,14.57,14.54
$GC,11428,1.10,115.2,3072,2480,2605,2685,164.3,10.2,514,11433,0.00,2.42,0.00,0.000,260,0.000,0.088,3073,3882,2645,2605,2685,0,0,0,0,0,0,15.11,14.46,15.14
$GC,11611,1.10,131.5,3072,3883,2605,2685,146.3,8.3,550,11628,0.00,2.28,11.82,1.194,9222,0.000,0.047,3081,2470,2588,2543,2633,0,0,0,0,0,0,14.65,14.61,13.90
$GC,11931,1.11,166.8,3080,2469,2543,2630,121.8,6.2,569,11962,0.00,2.30,26.20,1.181,8708,0.000,0.064,3091,1069,2443,2394,2493,0,0,0,0,0,0,15.07,14.50,13.96
$GC,11991,1.11,201.7,3091,1069,2396,2489,118.2,6.3,581,12024,0.00,2.33,25.90,1.152,9222,0.000,0.057,3091,2481,2300,2234,2367,0,0,0,0,0,0,14.72,14.63,13.83
$GC,12330,1.11,226.6,3090,2481,2239,2361,87.1,7.4,603,12354,0.00,2.38,18.58,1.105,8452,0.000,0.081,3091,3884,2202,2128,2276,0,0,0,0,0,0,14.95,14.44,13.91
$GC,12588,1.11,226.6,3091,3885,2133,2270,64.1,10.6,654,12594,0.00,2.25,0.00,0.000,1030,0.000,0.042,3102,2470,2201,2133,2270,0,0,0,0,0,0,14.67,14.63,14.70
$GC,12907,1.11,251.3,3101,2470,2139,2269,44.1,7.4,676,12931,0.00,2.38,19.52,1.066,8964,0.000,0.075,3102,3882,2098,2012,2185,0,0,0,0,0,0,15.02,14.50,13.98
$GC,13163,1.12,281.9,3102,3882,2021,2179,23.4,6.7,727,13191,0.12,2.20,19.15,1.024,13318,0.261,0.036,3080,2475,1974,1866,2083,0,0,0,0,0,0,14.34,14.67,13.97
$STATE,13419,end climb,SURFACE_DEPTH_REACHED
$STATE,13419,begin surface coast
$STATE,13449,end surface coast,CONTROL_FINISHED_OK
$STATE,13449,begin surface
$SM_CCo,13473,87.32,0.052,0,0,1087,500.17
$SM_GC,3.36,8.60,0.30,87.32,0.065,0.092,0.052,41,2666,1087,-8.29,-0.90,500.17,0,0,0,0,0,0,14.69,14.71,14.71
$IRIDIUM_FIX,749.46,8154.97,311015,033311
$TT8_MAMPS,0.023219,0.023219
$HUMID,46.69
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,24.40
$XPDR_PINGS,2
$24V_AH,13.08,107.723
$10V_AH,13.04,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,23.425,92.275,311.425,87.325,0.000,0.000,0.000,214.650,0.500,0.000,157.353,500.147,10840.441,489.880,1770.442,446.892,0.000,1384.075,0.000,1099.930,0.000,0.544,0.000
$DEVICE_MAMPS,415.395,91.800,2227.680,52.020,0.000,0.000,0.000,242.505,420.000,0.000,21.720,8.970,2.190,8.970,27.690,33.680,0.000,16.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,SciConCT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,833.774,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,30.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,271752
$DATA_FILE_SIZE,33423,759
$CAP_FILE_SIZE,121655,0
$CFSIZE,260034560,226988032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.244,164.11,1
$GPS,311015,130642,751.831,8159.495,282,2.3,301,-2.3,0.8,188.9,5,38.0